EP2181368A1 - Dispositif de programmation pour un réseau constitué de noeuds de commande et installation équipée d'un tel dispositif de programmation - Google Patents

Dispositif de programmation pour un réseau constitué de noeuds de commande et installation équipée d'un tel dispositif de programmation

Info

Publication number
EP2181368A1
EP2181368A1 EP08803094A EP08803094A EP2181368A1 EP 2181368 A1 EP2181368 A1 EP 2181368A1 EP 08803094 A EP08803094 A EP 08803094A EP 08803094 A EP08803094 A EP 08803094A EP 2181368 A1 EP2181368 A1 EP 2181368A1
Authority
EP
European Patent Office
Prior art keywords
control node
module
programming device
network
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP08803094A
Other languages
German (de)
English (en)
Other versions
EP2181368B1 (fr
Inventor
Josef Papenfort
Ralf Heitmann
Gerd Hoppe
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beckhoff Automation GmbH and Co KG
Original Assignee
Beckhoff Automation GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Application filed by Beckhoff Automation GmbH and Co KG filed Critical Beckhoff Automation GmbH and Co KG
Publication of EP2181368A1 publication Critical patent/EP2181368A1/fr
Application granted granted Critical
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Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0421—Multiprocessor system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41845—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by system universality, reconfigurability, modularity
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/08—Configuration management of networks or network elements
    • H04L41/0803—Configuration setting
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/21—Pc I-O input output
    • G05B2219/21081—At start up, check I-O configuration and store addresses in ram
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25062—Detect physical location of field device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25093—During start, integration into machine, send module functionality to scheduler
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25096—Detect addresses of connected I-O, modules
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the invention relates to a programming device for a network of control nodes and a system with such a programming device.
  • Modern concepts for industrial automation are based on the idea of decentralized control.
  • the control task to be executed is geographically and functionally optimally distributed to the control nodes of the decentralized control.
  • the control nodes communicate with each other and with the higher-level systems via industrial local networks.
  • the decentralized control of the communication costs can be reduced because the single control point related to their areas of control tasks themselves Unhold ⁇ men and only need to communicate to the vote with the other control nodes or with the higher-level systems.
  • the decentralized control is based on, let the basic idea of the automation task in individual functional and logical split from ⁇ closed modules, which can then be close to the process ⁇ angeord net, whereby the cabling and installation costs reduced. By dividing into modules, the complexity can be reduced so that functions can be implemented more easily.
  • Another trend in automation technology is open systems that allow the user to combine automation components from different manufacturers. As a result, it is possible for the user to use the best technical solution for individual subtasks and also to select the most favorable manufacturer.
  • An essential requirement for the automation components in open systems is the connectability, ie the individual automation components must in principle be integrated in the Be able to exchange data with each other.
  • open systems require interoperability of the automation components, ie the individual automation components must have defined profiles in order to ensure cooperation in the implementation of the automation task . From the ⁇ interchangeability is Finally demanded of automation components from different manufacturers, that is, the devices, the manufacturer must have the same functions in open systems.
  • the object of the invention is to provide a programming device for a network of control nodes and a system with such a programming device, which allow a flexible system management, in particular with regard to changes in the production and manufacturing process.
  • a programming ⁇ miervorraum which determines the communication relationship between the control nodes in the network.
  • the program For this purpose, the metering device has a detection module in order to determine the control nodes connected to the network. Furthermore, a plant object module connected to the acquisition module is provided, which contains a plant object model representing the control node configuration of the network, which defines the communication relationships between the determined control nodes. Connected to the system object module in the programming device is a configuration module which transmits the communication relationships established by the system object module between the control nodes in the network to the control nodes.
  • the erf indungsgedorfe design allows a decentralized control in the form of an open system with high compatibility with respect to the control nodes. Changes in the production and manufacturing process, in particular production expansion and product change can be easily implemented in the decentralized controller with little effort using the inventive programming device, since the programming device set the communication relationship between the individual control nodes and thus to the desired production and customize manufacturing process.
  • the plant object module in the programming device is designed such that the communication relationships between the subscribers in the control node are also determined on the basis of the plant object module and then transferred to the control nodes using the configuration module.
  • the data transmission between the control nodes in the network in the form data packets that are transmitted on the network performed, wherein the control nodes are designed to convert a control node process image or other data that does not belong to the process image into data telegrams.
  • This interpretation of the data traffic between the control nodes enables the communication relations between the control nodes ⁇ easily and flexibly interpreted to achieve optimum adaptation to the production and manufacturing processes.
  • FIG. 1 shows schematically a network with control node and programming device
  • Fig. 2 is a programming device architecture
  • FIGS. 3A-C igurations- a recognition, and machine Conf ⁇ nen worriessphase in a network.
  • Fig. 1 shows such a decentralized control with three control nodes IA, IB, IC and a programming device 2 for configuration and monitoring of the network.
  • the control nodes 1 each have a network interface 11, which forms a physical interface to the network.
  • the control node 1 and the programming device 2 are connected to each other via an industrial bus system 3, a so-called field bus.
  • the essential requirement of the fieldbus system for use in process and manufacturing technology is the real-time capability, ie the fieldbus system must ensure that every data packet sent arrives at the receiver within a limited guaranteed time.
  • control nodes themselves can in turn be divided into individual functionally and logically completed participants. This modularization of the control nodes enables optimal decentralization of the control intelligence. Similar to the higher-level control node, the participants are designed so that they almost completely assume the tasks related to their area and only have to communicate with the other nodes in the control node or with other control nodes for coordination. 1 shows a control node IA with three subscribers 12A, 12B, 12C, which are connected via an internal bus system 13 to the network interface 11 of the control node.
  • Each control node has a control node description representing the function and communication properties of the STEU ⁇ erknotens.
  • This control node description is standardized for all control nodes and stored as a file in a memory area 14 of the control node.
  • the individual subscribers in turn, have their own subscriber description analogous to the control node, which reproduces the communication and functional properties of the subscriber and is stored as a standardized file in a memory area (not shown). shows) of the subscriber or in the memory area 14 of the control node is stored.
  • a problem with conventional decentralized control systems in industrial automation is that the control-technical content of the system or the hardware of the control nodes must be elaborately adapted during product and production process changes. This adaptation can be significantly reduced with the inventively provided program device 2 on the plant network.
  • the programming device 2 which is connected via the fieldbus 3 to the control node 1 or the participants 12 in the control node, can determine the control node connected to the network or participants in the control node in a first step. On the basis of a plant object model provided in the programming device 2, the programming device can then determine the communication relationships between the determined control nodes or the determined subscribers in the control node and then transmit these communication relationships to the control nodes or the subscribers in the control node.
  • the structure of the programming device is shown schematically in FIG.
  • the individual components of the programming device can be embodied both in hardware and in software form.
  • the programming device 2 has three interfaces: a first fieldbus interface 21 for connecting the control nodes 1 via the fieldbus 3, which is designed as a network interface, a data interface 22 and a man-machine interface 23rd
  • the programming device 2 can import a system description and a product and process description of, for example, from, as shown in FIG. 2, an engineering system 4 with which a system design for manufacturing a product has been executed.
  • the plant Writing contains the orientation and order of the network participants in relation to the overall system and a representation of the network parameters and communication endpoints.
  • the system description and a product and a product and hailbe ⁇ scription is converted by a device connected to the data interface 22 Anlagenkonf lgurations-Emgabemodul 24 in an object model that retaining the system description and the product and process descriptions environment in a standardized format.
  • the programming device further has a device description em / output module 25 with which the programming device 2 can import or export control node or subscriber descriptions.
  • the device description input / output module 25 can exchange the device and subscriber description via the data interface 22 with an external database 5 or also query it via the data interface 21 from the control nodes or the subscribers in the control node.
  • updated device descriptions are restored to the control nodes or the subscribers in the control nodes.
  • the plant configuration issuing module 24 and the device description issuing / output module 25 are connected to a plant object module 26 to include the object model containing a standardized plant, product and process description with the control node or subscriber descriptions to merge a plant object model.
  • the system object module 26 determines the communication relationships between the control nodes 1 or subscribers 12 in the control node. Requirement for the communication relations in control systems of the industrial automation is the real-time capability, ie the decentralized control must react in good time to all occurring events in all operating conditions.
  • the system object module 26 applies the Kirunikationsbezie ⁇ relations between the control node 1 or participants 12 in the control node, the distribution between cyclic and acyclic data exchange fixed.
  • the communication between the control nodes in the network is carried out according to the definition by the system object module 26 according to the rules of the fieldbus protocol, wherein the data to be exchanged are converted between the control node 1 into data telegrams.
  • the preferred communication infrastructure in the fieldbus is the Ethernet protocol, which allows high data rates to be achieved.
  • the data exchange between the nodes in the control node in contrast, in order to enable fast data transmission, preferably defined by the asset module 26 in the form of data mapping operations, each participant 12 is designed in the control node 1, a direct data access to the between participants via the internal Bus 13 exchanged data performs.
  • the system object module 26 is furthermore connected to a detection module 27, with which the control node 1 or subscriber 12 connected to the network can be determined in the control node 1.
  • the detection module 27 via the fieldbus interface 21 connected to the network Determine senen control node or participants in the control node.
  • Each connected to the network control node or each participant in the control node namely has a unique address associated with it, via which it can be addressed.
  • the control nodes or the nodes in the control node can, for example, also obtain this address via the Dynamic Host Configuration Protocol (DHCP) or via AutoIP.
  • DHCP Dynamic Host Configuration Protocol
  • the detection module 27 can use different mechanisms.
  • the detection module 27 can transmit a so-called broadcast telegram via fieldbus interface 21 to all control nodes 1 or subscribers 12 in the control node 1, which are connected to the network.
  • Control node 1 or the subscribers 12 in the network then respond to this broadcast telegram with a response telegram in order to notify the acquisition module 27 of the address of the control node or of the subscriber in the control node.
  • a network protocol for transmitting the broadcast telegram e.g. the User Datagram Protocol (UPP), which is a minimal connectionless network protocol.
  • UDP User Datagram Protocol
  • UPNP Universal Plug and Play Protocol
  • the acquisition module 26 may also request the control nodes 1 and the participants 12 in the control node 1, the control node or subscriber description, which characterizes the network properties and the functions of the device and the control node or the participants in the control node in a standardized format are stored, to be transmitted to the device description input / output module 25.
  • control nodes 1 or subscriber 12 in the control node via a broadcast telegram.
  • each control node sends an identification telegram with its address or the addresses of the participants in the control node to the acquisition module 27 of the programming device 2 on the network at startup.
  • the control node 1 and the Steuerknotenmp. Submit subscriber description to the device description input / output module 25.
  • the acquisition module 27 forwards the addresses of the detected control nodes or subscribers in the control node and the device description input / output module 25 forwards the control node or subscriber descriptions to the system object module 26.
  • the system object module 26 compares the number of control nodes or subscribers provided in the control node according to the system object module with the detected control nodes or subscribers in the control node. If the detected control nodes or subscribers in the control node do not completely cover the control node or subscriber number provided in accordance with the system description, the system object module 26 gives e.g. via the human-machine interface 23 an error message. The further conf igurations revitaliz the system by the programming device 2 is then interrupted.
  • the system object module 26 may also compare the data read from the database 5 or Steuerknoten- device descriptions with the currently detected Steuerknoten- and device descriptions, and optionally the data stored in the data bank ⁇ 5 or the control node or subscriber Steuerknoten- or device description according actuaries taping.
  • the object model module 26 standardized by the asset module 26 on the basis of the object model standardized by the asset confi guration module 24 and the control node or subscriber descriptions transmitted via the acquisition module 27 or the device description module.
  • Import / Export module 25 established communication relationships between the control node 1 in the network or between the participants 12 in each control node specify each sender and receiver, the data transmission type and the data type.
  • the data to be transferred are divided into product process and control parameters, event data and process data.
  • Product process and control parameters are transferred acyclically before the production process for parameterization between control nodes or their subscribers. They are not real-time-critical.
  • Event data is used to notify application programs in the control nodes or participants in the control nodes about events.
  • Such event data may be the change of a process signal, the exceeding of a limit value, an operator intervention, the occurrence of an error, etc.
  • the event data are exchanged acyclically between the participants in the communication relationships and are not real-time critical.
  • Process data are usually functional data, eg sensor data, which are required for the process and production process and are real-time critical.
  • This process data is preferably cyclically exchanged between the subscribers in order to guarantee real-time transmission.
  • the process data can also be transmitted in an acyclic way between the participants.
  • Such process data transmitted OCyc ⁇ lisch are process and product parameters for the control node or for the participants in the control node to run the application programs.
  • the asset object module 26 also determines with the communication relationships how the data transfer has to occur. In the case of a data transmission between the control nodes or of subscribers in a control node to subscribers in another control node, the data transmission takes place in accordance with the fieldbus protocol, whereby the system object module transmits the telephony. program format, while pretending particular the data structure in Tele ⁇ program. The control nodes 1 then use their network connection unit 11 to convert the process data to be transmitted into these predetermined message formats.
  • the data transmission from the system object module 26 is defined as transparent local communication, wherein the subscribers in the control node then execute data mapping operations in which the data is directly accessed by the users on the transmitted control node process image is carried out. In contrast to network transmission, it is then not necessary to copy the data into data telegrams, as a result of which a particularly fast data transmission between subscribers of a local node can be achieved.
  • the system object module 26 transfers the data set with the defined communication relationships to a convocation output module 28, which converts the communication relationships defined by the system object module 26 into telegrams in order to send them via the fieldbus interface 21 and the fieldbus 3 to the control nodes 1 or the subscribers 12 in FIG to transmit the control node.
  • a process parameter output module 29 connected to the system object module 26 is provided in the programming device 2, which converts the process and product parameters distributed by the system object module 26 to the individual nodes or control nodes into telegrams and these via the
  • Fieldbus interface 21 and the fieldbus 3 on the Steuerkno ⁇ th 1 and the participants 12 transmits in the control node.
  • the programming device 2 may also have a monitoring module 30 which is connected to the control node 1 via the fieldbus interface 21 and the fieldbus 3 in order to monitor the status of the control nodes during machine operation or the participant in the control node to monitor and perform an error detection, the errors can be transmitted via the fieldbus interface 21 or displayed via the human-machine interface 23.
  • a monitoring module 30 which is connected to the control node 1 via the fieldbus interface 21 and the fieldbus 3 in order to monitor the status of the control nodes during machine operation or the participant in the control node to monitor and perform an error detection, the errors can be transmitted via the fieldbus interface 21 or displayed via the human-machine interface 23.
  • the man-machine interface 23 of the programming device 2 preferably has a user interface 31 for the operator, via which preferably a complete plant, product and process description is carried out.
  • the control nodes or subscribers in the control node, the network topology and the network parameters, the control node and subscriber description and the process and product parameters can be displayed.
  • the data records specified by the investment object module 26 with the communication relationships can be displayed on the user interface 31. It is also possible to visualize the plant object model, the plant, product and process description, the descriptions of individual control nodes but also of the entire plant on the user interface 31.
  • the user interface 31 can be designed so that the individual representations can also be changed by the operator. These inputs are then fed back to the plant object module 26 via the human-machine interface 23.
  • FIG. 3A to C show various modes of operation of the distributed controller shown in Fig. 1 with a network of control node 1 and a programming device 2, as shown in Fig. 2 in detail.
  • the two Initialtechnischssch ⁇ tte the Programmiervor ⁇ ch- are device 2, namely the recognition phase and the configuration phase ⁇ the decentralized control, and as shown in Fig. 3C the engine operation.
  • the data exchange carried out in each case is indicated by arrows in the figures.
  • the programming device 2 imports the system description, which was generated for example by means of an engineering system 5, by one certain production and manufacturing processes.
  • the plant description includes the orientation and the order of the participants in the network in relation to the entire plant for the execution of the desired production and manufacturing process. Further, the programmer 2 reads a
  • the programming device 2 detects the am
  • Network connected control node 1 and participants 12 in the control node receive at startup on the fieldbus 3 via DHCP or by auto-IP e.g. from a server (not shown) a valid address. However, this valid address can also be previously stored in the control node or the participants in the control node.
  • the control nodes or the participants in the control node transmit this address to the programming device 2 either automatically at start-up on the network or at the request of the programming device, e.g. with the help of a broadcast telegram.
  • the programming device 2 also detects the subscriber characteristics.
  • the control node and subscriber descriptions identify the network properties of the participants as well as their functions. These control node and subscriber descriptions are received by the programming device 2 either from an external database (not shown) or via the feeder bus 3 directly from control nodes or subscribers in the control node.
  • the programming device 2 uses the human-machine interface to display the information that is read in preferably editable on the user interface, so that the operator can make changes, for example in the control node and subscriber descriptions, the product and program information. zessparametern and the network topology and its Parame ⁇ you.
  • the programming device 2 determines the communication parameters between participants in the network ⁇ factory.
  • the event and data streams are defined, as well as the type of data transmission cyclic, ie real-time, or determined acyclically.
  • the defined data set with the communication relationships K is then written by the programming device 2 via the fieldbus 3 into the control nodes or subscribers in the control node.
  • the participants are given the data transmission type, the data type and the sender or receiver of the data.
  • the programming device 2 transmits the process parameter P important for the individual control nodes or subscribers in the control node for carrying out the production and production process.
  • the network Upon completion of the initialization cycle shown in FIGS. 3A and 3B, the network then switches to machine operation to perform the desired production and manufacturing process. In this mode of operation, the programmer 2 is no longer needed by the remote controller as shown in Fig. 3C.
  • the programming device 2 is then either switched off or has an observational function in the production and manufacturing process, so the fault monitoring and diagnosis is used.
  • the programming device can also have a host computer function and be integrated into the control process.
  • control nodes or the nodes in the control node autonomously exchange process and event data via the communication relationships preconfigured by the programming device 2.
  • the data transmission takes place in a transparent manner Data mapping operations with a direct data access of each participant to the control node process image transmitted between the participants.
  • the data transmission is carried out in accordance with the specified network protocol, the control node data being converted by the associated network connections into the network telegrams.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Programmable Controllers (AREA)
  • Computer And Data Communications (AREA)
  • Stored Programmes (AREA)

Abstract

L'invention concerne un dispositif de programmation (2), installé dans un réseau (3) constitué de noeuds de commande, comportant un module de détection (27) servant à détecter les noeuds de commande connectés au réseau, un module d'objet d'installation (26) connecté au module de détection et contenant un modèle d'objet d'installation représentant la configuration des noeuds de commande du réseau. Le module d'objet d'installation est conçu pour fixer les relations de communication entre les noeuds de commande déterminés, sur la base du modèle d'objet d'installation. Un module de sortie de configuration (28) connecté au module d'objet d'installation est prévu pour transférer aux noeuds de commande les relations de communication entre les noeuds de commande dans le réseau, fixées par le module d'objet d'installation.
EP08803094A 2007-08-21 2008-08-19 Dispositif de programmation pour un réseau constitué de noeuds de commande et installation équipée d'un tel dispositif de programmation Active EP2181368B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007039428A DE102007039428A1 (de) 2007-08-21 2007-08-21 Programmiervorrichtung für ein Netzwerk aus Steuerknoten und Anlage mit einer solchen Programmiervorrichtung
PCT/EP2008/060857 WO2009024576A1 (fr) 2007-08-21 2008-08-19 Dispositif de programmation pour un réseau constitué de noeuds de commande et installation équipée d'un tel dispositif de programmation

Publications (2)

Publication Number Publication Date
EP2181368A1 true EP2181368A1 (fr) 2010-05-05
EP2181368B1 EP2181368B1 (fr) 2012-12-26

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Country Status (6)

Country Link
US (1) US8892785B2 (fr)
EP (1) EP2181368B1 (fr)
JP (1) JP5084908B2 (fr)
CN (1) CN101784968B (fr)
DE (1) DE102007039428A1 (fr)
WO (1) WO2009024576A1 (fr)

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DE102007039428A1 (de) 2009-02-26
CN101784968B (zh) 2012-11-14
JP2010537295A (ja) 2010-12-02
US20100217894A1 (en) 2010-08-26
US8892785B2 (en) 2014-11-18
WO2009024576A1 (fr) 2009-02-26
CN101784968A (zh) 2010-07-21
EP2181368B1 (fr) 2012-12-26
JP5084908B2 (ja) 2012-11-28

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